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I can't get over the feel of air mattresses. Dunno what it is, but I got this on Amazon and it feels just like my regular bed. I'm a light sleeper so sleep comfort on camping trips are my soft spot. I'll make sure to have a battery powered fan, a good pillow, and a comfy mattress.
I sleep in my 06 rav4 Sport half of every week. I’m 5’10” and the when you lay half the backseat down (I use the drivers side) and slide the rear seat as far forward as it will go I have plenty of room to stretch out. You have to fill in the gap between the rear seat and the trunk floor, I use a rolled up yoga mat. On top of that I lay a 4inch memory foam mattress topper.
I do this on a regular basis and stealth is not needed for my purposes so made Velcro screens that go on the outside of all four of my windows so that I roll them all down. You could do the same on the inside of the window if you did want anyone to know what you were doing. I keep a small camping lantern and a battery powered fan in there and I’m all set.
I've never had an air mattress that didn't leak. I thought it was me but it's such a big problem that several air-mattress companies have gone out of business...because they pretty much all will develop leaks.
I know it's not what you were asking, but just my opinion that the air mattresses are going to cost you more in the long run, so I went with the solid but foldable setup.
I just do weekend camping and I use the trifold mattress that many others here also use, from Amazon. It wasn't enough for me to sleep on my side though, so I got 3-inch thick foam slabs from Walmart in the crafts section. They are green, 24" wide, and around 36" long so you'll need two. I put the foam down first and the mattress on top of it, and it sleeps incredibly well.
It is $71 and alleged to be quite comfortable. Amazon has more "trifold mattress" for lower prices. Just a foam topper bottoms out so pointy bits like elbows get no cushion.
We have two of these for the back of our camper shell platform. They are 4" and pretty firm. I weigh 250-ish and I find the mattress comfortable, my shoulders and hip bones do not hurt. They are not as comfortable as my home bed, but work great for our trips.
I don't know how to do those shortened links that people do. But here is the long version:
this is the one
If can fold up but still takes a decent amount of space but I enjoy sleeping on it for my solo trips.
Now if i were to bring a second person I’d either have to look at an inflatable mattress (exped or something) or I would have to somehow make a foam cutout (problem with that is I move stuff around + gear in the back)
A lot of car campers like a 3 or 4 inch foam folding mattress. A Full will fit snugly in the back of my Honda Pilot or a Toyota 4-runner, a Twin will fit most everything else.
Milliard Tri Folding Mattress, with Ultra Soft Removable Cover and Non-Slip Bottom, (Single 75" x 25")
I have a 2014 Gen 3 and it does tilt slightly upward, but with a mattress or pad you wont notice the difference. I use this mattress and sleep comfortably.
Stealth/private camping vehicle ideas:
Tri-fold mattress, blackout curtain, 35% or state legal tint, Rain Guard and ShadeSox (bug/privacy screen), and optional hyper-insulated custom window covers. Avoid covering the driver and front passenger side windows, not as stealthy. Only use a windshield sun shield in the summer.
Scout out light industrial street parking and large suburban apartment complexes in safe areas.
I intend to car camp and picked up https://www.amazon.com/gp/product/B00W67PJ4M which seems to have jumped in price, but thats camping equipment these days.
I suppose I misspoke because I don't dwell full time, but do the car camping/travel like you.
Anyways, the equipment is pretty much just the mattress which is a Millard Tri Fold (it's amazing). I have a small cooler behind the passenger seat that I put a pillow on top so that the mattress lays completely flat when I sleep (I fold it up otherwise). I got that tip from this youtuber who also has tons of other great recs.